Description

This git is Ros application Git.
*Hardware Structure

• Open Manipulator
• OpneCR
• RealSense D435

*Base Software information

• reference open manipulator git to control open manipulator.
  https://github.com/ROBOTIS-GIT/open_manipulator.
• reference turtlebot3_slam_3d git to detect object and to get 3D coordination.
  https://github.com/ROBOTIS-JAPAN-GIT/turtlebot3_slam_3d

Environment setting

*First, you must set open manipulator environment.
http://emanual.robotis.com/docs/en/platform/openmanipulator/
*Sencond, you must set turtlebot3_slam_3d environment.
https://github.com/ROBOTIS-JAPAN-GIT/turtlebot3_slam_3d
*Third, Please follow the command below to modify some code.

$mkdir ~/temp_op
$cd ~/temp_op
$git clone https://github.com/AuTURBO/open-manipulator-object-tracking-apple.git
$cd open-manipulator-object-tracking-apple
$cp -r darknet_ros ~/catkin_ws/src/darknet_ros/
$cp -r open_manipulator_example ~/catkin_ws/src/open_manipulator/
$cp turtlebot3_slam_3d.launch ~/catkin_ws/src/turtlebot3_slam_3d/launch/

Run

Click image to link to YouTube video.

• run

$roslaunch turtlebot3_slam_3d turtlebot3_slam_3d.launch use_zed:=false
$roslaunch open_manipulator_controller open_manipulator_controller.launch
$roslaunch open_manipulator_example jjap_it.launch target_object:=apple